Reduced|order modeling of soft robots

Reduced-order modeling of soft robots | PLOS ONE

A reduced-order modeling strategy is proposed that allows to minimize the amount of online CPU cost. Instead, an offline training procedure is proposed.

Soft Robot Optimal Control Via Reduced Order Finite Element Models

In this work we propose an approach for finite element model-based control of soft robots that leverages model order reduction techniques to significantly ...

Soft robot fast simulation via reduced order extended position based ...

In this study, a novel fast simulation framework for soft robots is created using reduced order extended position-based dynamics technique.

Reduced-order modeling of soft robots - OneSearch - Los Rios ...

We present a general strategy for the modeling and simulation-based control of soft robots. Although the presented methodology is completely general, ...

[2311.01720] Learning Reduced-Order Soft Robot Controller - arXiv

Our method first identifies the so-called simulation-space that captures the salient deformation modes, to which the robot's governing equation ...

Reduced-order modeling of soft robots - PMC - NCBI

Control after contact · We approach the fingers in normal direction —by applying, say, force F1— until the tactile sensor detects contact.

Reduced order modeling of hybrid soft-rigid robots using global ...

The CDPR is modeled as a hybrid robot of revolute joints, rigid links (end-effector), and soft links. Three closed-loop joints are introduced to ...

Reduced order modeling and model order reduction for continuum ...

More recently, Model Order Reduction (also referred to as Reduction or, interchangeably, as Reduced Order Modeling) techniques are utilized for Soft Robotics ...

Reduced-order modeling of soft robots - ResearchGate

Abstract and Figures · Control prior to contact. Of course, the first part of the control strategy, in the absence of contact, is to position the end.

Reduced-order modeling of soft robots - Semantic Scholar

A general strategy for the modeling and simulation-based control of soft robots that allows for a fully non-linear modeling of the soft material in a ...

StanfordASL/soft-robot-control: Implementation of reduced-order ...

for nonlinear reduced order models based on nonlinear Finite Element Models (FEMs). Specifically, it interfaces with the SOFA simulation engine to simulate Soft ...

Reduced-order modeling of soft robots - PubMed

To comply with the stringent real-time constraints imposed by control algorithms, a reduced-order modeling strategy is proposed that allows to ...

Soft Synergies: Model Order Reduction of Hybrid Soft-Rigid Robots ...

Index Terms—Modeling, control, and learning for Soft Robots,. Reduced order modeling, Proper orthogonal decomposition,. Strain parameterization, ...

Control Design for Soft Robots based on Reduced Order Model - HAL

A real robot is used to demonstrate the interest of the results. Index Terms—Modeling, Control, and Learning for Soft. Robots, Robust Control of ...

Reduced Order Modeling and Model Order Reduction for ... - Frontiers

Soft robots' natural dynamics calls for the development of tailored modeling techniques for control. However, the high-dimensional ...

Soft robot fast simulation via reduced order extended position based ...

This framework is helpful for configuration design and motion verification. The soft robot model is built using strain constraints, and the reduced order matrix ...

Reduced Order Control of Soft Robots with Guaranteed Stability

Abstract: This work offers the ability to design a closed-loop strategy to control the dynamics of soft robots. A numerical model of a robot is obtained ...

Soft Robots SOFA simulation with reduced FEM model for real-time ...

Examples on different robots : - Stiff-flop robot manufactured by Jialei Shi (Department of Mechanical Engineering, University College ...

Reduced-order modeling of soft robots - IDEAS/RePEc

To comply with the stringent real-time constraints imposed by control algorithms, a reduced-order modeling strategy is proposed that allows to minimize the ...

Soft robot fast simulation via reduced order extended position based ...

It simplifies the creation of models and improves the efficiency of the reduced order matrix construction. To verify the feasibility of the ...